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expose local inertia diagonal in C-API, PyBullet, through the 'getDynamicsInfo'

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render the inertia boxes in examples/pybullet/examples/quadruped.py and examples/pybullet/examples/reset_dynamic_info.py
fix an issue where the original margin (0.04) was used to compute the inertia, instead of latest margin
This commit is contained in:
erwincoumans
2017-12-20 14:54:32 -08:00
parent ecba966890
commit eb35cba740
7 changed files with 150 additions and 20 deletions
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7
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6148,11 +6148,18 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
if (linkIndex == -1)
{
serverCmd.m_dynamicsInfo.m_mass = mb->getBaseMass();
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[0] = mb->getBaseInertia()[0];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = mb->getBaseInertia()[1];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[2] = mb->getBaseInertia()[2];
serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getBaseCollider()->getFriction();
}
else
{
serverCmd.m_dynamicsInfo.m_mass = mb->getLinkMass(linkIndex);
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[0] = mb->getLinkInertia(linkIndex)[0];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = mb->getLinkInertia(linkIndex)[1];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[2] = mb->getLinkInertia(linkIndex)[2];
if (mb->getLinkCollider(linkIndex))
{
serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction();